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The iot service has not been authorised to invoke your function.
Double check you have added permission for iot to invoke your lambda
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Thales for the reply @peter_g. The resource you pointed to refers to the cli, do you know how to do it via the console? All the amazon console guides seem to refer to previous iterations of the console which are no longer accessible!
In the console Configuration --> Permissions --> Resource-based-policy. You can use the "Add permissions" button to add the iot service